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Path planning and trajectory control...

Davies, Trevor.

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Path planning and trajectory control of collaborative mobile robots using hybrid control architecture.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Path planning and trajectory control of collaborative mobile robots using hybrid control architecture./
作者:	Davies, Trevor.
面頁冊數:	167 p.
附註:	Source: Masters Abstracts International, Volume: 46-02, page: 1110.
Contained By:	Masters Abstracts International46-02.
標題:	Engineering, Mechanical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR29814
ISBN:	9780494298145

Path planning and trajectory control of collaborative mobile robots using hybrid control architecture.
Davies, Trevor.

Path planning and trajectory control of collaborative mobile robots using hybrid control architecture. - 167 p.

Source: Masters Abstracts International, Volume: 46-02, page: 1110.

Thesis (M.A.Sc.)--Royal Military College of Canada (Canada), 2007.

This thesis presents the development of a deliberative path planner for mobile robots based on Genetic Algorithms. The path planner was used to generate an optimized path for a three-wheeled mobile robot to visit all user-defined waypoints without colliding with known obstacles. This Genetic Algorithm Path Planner was shown to accomplish this task and produce superior results when compared against a full search path planner. The deliberative Genetic Algorithm Path Planner was coupled with a reactive Potential Field Trajectory Planner and kinematic based controller to create a hybrid control architecture allowing the mobile robot to navigate between multiple user-defined waypoints, while avoiding obstacles within both static and dynamic environments. The success of this hybrid control architecture was proven through simulation and experimentation using DrRobot's(TM) wireless X80 mobile robot.

ISBN: 9780494298145Subjects--Topical Terms:

783786
Engineering, Mechanical.

Path planning and trajectory control of collaborative mobile robots using hybrid control architecture.
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520 $a This thesis presents the development of a deliberative path planner for mobile robots based on Genetic Algorithms. The path planner was used to generate an optimized path for a three-wheeled mobile robot to visit all user-defined waypoints without colliding with known obstacles. This Genetic Algorithm Path Planner was shown to accomplish this task and produce superior results when compared against a full search path planner. The deliberative Genetic Algorithm Path Planner was coupled with a reactive Potential Field Trajectory Planner and kinematic based controller to create a hybrid control architecture allowing the mobile robot to navigate between multiple user-defined waypoints, while avoiding obstacles within both static and dynamic environments. The success of this hybrid control architecture was proven through simulation and experimentation using DrRobot's(TM) wireless X80 mobile robot.
520 $a Finally, the single robot hybrid control architecture was expanded to develop and implement a hybrid control architecture to assign multiple user-defined waypoints to a collective of three X80 mobile robots. The Genetic Algorithm Path Planner created a balanced path plan, based on distance, for each robot in the collective such that each waypoint was visited once. The Potential Field Trajectory Planner and kinematic based controller then drove the robots, in simulation and experimentally, along the path to reach all user-defined waypoints while avoiding obstacles.
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